public void ConversionRoundTrip()
{
Torque newtonmeter = Torque.FromNewtonMeters(1);
AssertEx.EqualTolerance(1, Torque.FromKilogramForceCentimeters(newtonmeter.KilogramForceCentimeters).NewtonMeters, KilogramForceCentimetersTolerance);
AssertEx.EqualTolerance(1, Torque.FromKilogramForceMeters(newtonmeter.KilogramForceMeters).NewtonMeters, KilogramForceMetersTolerance);
AssertEx.EqualTolerance(1, Torque.FromKilogramForceMillimeters(newtonmeter.KilogramForceMillimeters).NewtonMeters, KilogramForceMillimetersTolerance);
AssertEx.EqualTolerance(1, Torque.FromKilonewtonCentimeters(newtonmeter.KilonewtonCentimeters).NewtonMeters, KilonewtonCentimetersTolerance);
AssertEx.EqualTolerance(1, Torque.FromKilonewtonMeters(newtonmeter.KilonewtonMeters).NewtonMeters, KilonewtonMetersTolerance);
AssertEx.EqualTolerance(1, Torque.FromKilonewtonMillimeters(newtonmeter.KilonewtonMillimeters).NewtonMeters, KilonewtonMillimetersTolerance);
AssertEx.EqualTolerance(1, Torque.FromKilopoundForceFeet(newtonmeter.KilopoundForceFeet).NewtonMeters, KilopoundForceFeetTolerance);
AssertEx.EqualTolerance(1, Torque.FromKilopoundForceInches(newtonmeter.KilopoundForceInches).NewtonMeters, KilopoundForceInchesTolerance);
AssertEx.EqualTolerance(1, Torque.FromMeganewtonCentimeters(newtonmeter.MeganewtonCentimeters).NewtonMeters, MeganewtonCentimetersTolerance);
AssertEx.EqualTolerance(1, Torque.FromMeganewtonMeters(newtonmeter.MeganewtonMeters).NewtonMeters, MeganewtonMetersTolerance);
AssertEx.EqualTolerance(1, Torque.FromMeganewtonMillimeters(newtonmeter.MeganewtonMillimeters).NewtonMeters, MeganewtonMillimetersTolerance);
AssertEx.EqualTolerance(1, Torque.FromMegapoundForceFeet(newtonmeter.MegapoundForceFeet).NewtonMeters, MegapoundForceFeetTolerance);
AssertEx.EqualTolerance(1, Torque.FromMegapoundForceInches(newtonmeter.MegapoundForceInches).NewtonMeters, MegapoundForceInchesTolerance);
AssertEx.EqualTolerance(1, Torque.FromNewtonCentimeters(newtonmeter.NewtonCentimeters).NewtonMeters, NewtonCentimetersTolerance);
AssertEx.EqualTolerance(1, Torque.FromNewtonMeters(newtonmeter.NewtonMeters).NewtonMeters, NewtonMetersTolerance);
AssertEx.EqualTolerance(1, Torque.FromNewtonMillimeters(newtonmeter.NewtonMillimeters).NewtonMeters, NewtonMillimetersTolerance);
AssertEx.EqualTolerance(1, Torque.FromPoundForceFeet(newtonmeter.PoundForceFeet).NewtonMeters, PoundForceFeetTolerance);
AssertEx.EqualTolerance(1, Torque.FromPoundForceInches(newtonmeter.PoundForceInches).NewtonMeters, PoundForceInchesTolerance);
AssertEx.EqualTolerance(1, Torque.FromTonneForceCentimeters(newtonmeter.TonneForceCentimeters).NewtonMeters, TonneForceCentimetersTolerance);
AssertEx.EqualTolerance(1, Torque.FromTonneForceMeters(newtonmeter.TonneForceMeters).NewtonMeters, TonneForceMetersTolerance);
AssertEx.EqualTolerance(1, Torque.FromTonneForceMillimeters(newtonmeter.TonneForceMillimeters).NewtonMeters, TonneForceMillimetersTolerance);
}
public static Torque?KilogramForceMeters <T>(this T?value) where T : struct => Torque.FromKilogramForceMeters(value == null ? (double?)null : Convert.ToDouble(value.Value));
/// <inheritdoc cref="Torque.FromKilogramForceMeters(UnitsNet.QuantityValue)" /> public static Torque KilogramForceMeters <T>(this T value) => Torque.FromKilogramForceMeters(Convert.ToDouble(value));
/// <inheritdoc cref="Torque.FromKilogramForceMeters(double?)"/> public static Torque?KilogramForceMeters(this double?value) => Torque.FromKilogramForceMeters(value);
/// <inheritdoc cref="Torque.FromKilogramForceMeters(double)"/> public static Torque KilogramForceMeters(this long value) => Torque.FromKilogramForceMeters(value);
/// <inheritdoc cref="Torque.FromKilogramForceMeters(double?)"/> public static Torque?KilogramForceMeters(this decimal?value) => Torque.FromKilogramForceMeters(value == null ? (double?)null : Convert.ToDouble(value.Value));
static void Main(string[] args)
{
// nema17 - 24v datasheet
var MOTOR_TYPE = "nema17";
var MOTOR_VOLTAGE = ElectricPotentialDc.FromVoltsDc(24);
var SPEED_MAX = RotationalSpeed.FromRevolutionsPerMinute(200);
var TORQUE_MAX = Torque.FromNewtonMeters(0.4);
// problem data
var MASS = Mass.FromKilograms(2);
var LEVER_ARM_LEN = Length.FromCentimeters(1);
var ROUND_CNT = Angle.FromRevolutions(1d);
var EXECUTION_TIME = Duration.FromSeconds(2);
// config
var TIME_STEP = Duration.FromMilliseconds(1);
// speed required to achieve given ROUND_CNT in EXECUTION_TIME without cruise
var minTargetSpeed = 2 * ROUND_CNT / EXECUTION_TIME;
if (minTargetSpeed > SPEED_MAX)
{
System.Console.WriteLine($"W: given position {ROUND_CNT} round cannot established due to speed_max:{SPEED_MAX.RevolutionsPerSecond} rps vs actual required target speed:{minTargetSpeed.RevolutionsPerSecond} rps");
return;
}
// s:target speed
var s = minTargetSpeed;
// d:duration
var d = EXECUTION_TIME;
var minHoldingTorque = Torque.FromKilogramForceCentimeters(MASS.Kilograms * LEVER_ARM_LEN.Centimeters);
if (minHoldingTorque > TORQUE_MAX)
{
System.Console.WriteLine($"W: given mass {MASS} at lever arm distance {LEVER_ARM_LEN} generate {minHoldingTorque.KilogramForceCentimeters} kgfcm torque versus max {TORQUE_MAX.KilogramForceCentimeters} kgfcm");
return;
}
var minDynAccel = RotationalAcceleration.FromRevolutionsPerSecondSquared(4 * s.RevolutionsPerSecond / d.Seconds);
var I = MassMomentOfInertia.FromKilogramSquareCentimeters(MASS.Kilograms * Pow(LEVER_ARM_LEN.Centimeters, 2));
// torque = inertia * angularaccel
// F:[M*L*T-2]*r:[L] = I:[M*L2]*a:[T-2]
// [M*L2*T-2] = [M*L2*T-2]
var minDynTorque = Torque.FromKilogramForceMeters(I.KilogramSquareMeters * minDynAccel.RadiansPerSecondSquared);
if (minDynTorque > TORQUE_MAX)
{
System.Console.WriteLine($"W: accelerating given mass {MASS} at angaccel {minDynAccel} generates torque {minDynTorque.NewtonCentimeters} Ncm great than max {TORQUE_MAX.NewtonCentimeters} Ncm");
return;
}
var srcPathfilename = Path.Combine(AppDomain.CurrentDomain.BaseDirectory, "template.xlsx");
var dstPathfilename = "output.xlsx";
File.Copy(srcPathfilename, dstPathfilename, true);
using (var wb = new ClosedXML.Excel.XLWorkbook(dstPathfilename))
{
var ws = wb.Worksheets.First();
IXLCell cell = null;
Action <int, int, object> setCell = (r, c, val) =>
{
cell = ws.Cell(r, c);
cell.Value = val;
};
Action <int, int, object> setCellBold = (r, c, val) =>
{
cell = ws.Cell(r, c);
cell.Value = val;
cell.Style.Font.SetBold();
};
var row = 1;
int col = 1;
var colTime = col++;
var colAccel = col++;
var colSpeed = col++;
var colPosRot = col++;
setCellBold(row, colTime, "TIME (s)");
setCellBold(row, colAccel, "ACCEL (rps2)");
setCellBold(row, colSpeed, "SPEED (rps)");
setCellBold(row, colPosRot, "POS (rot)");
++row;
var t = Duration.FromSeconds(0);
var tMax = t + EXECUTION_TIME;
var halfTMax = tMax / 2;
ws.Cell("MotorType").Value = MOTOR_TYPE;
ws.Cell("MotorSpeedMax").Value = SPEED_MAX;
ws.Cell("MotorTorqueMaxAtSpeedMax").Value = TORQUE_MAX;
ws.Cell("MotorVoltage").Value = MOTOR_VOLTAGE;
ws.Cell("ProblemDuration").Value = EXECUTION_TIME;
ws.Cell("ProblemLoadLeverArmLength").Value = LEVER_ARM_LEN;
ws.Cell("ProblemLoadMass").Value = MASS;
ws.Cell("ProblemRevolutions").Value = ROUND_CNT;
ws.Cell("ResultingTorque").Value = minDynTorque.ToUnit(TorqueUnit.NewtonMeter);
ws.Cell("ResultingAccel").Value = minDynAccel;
ws.Cell("ResultingSpeedMax").Value = minTargetSpeed.ToUnit(RotationalSpeedUnit.RevolutionPerMinute);
var tEps = Duration.FromNanoseconds(1);
while (t.LessThanOrEqualsTol(tEps, tMax))
{
setCell(row, colTime, t.Seconds);
var accel = RotationalAcceleration.FromRevolutionsPerSecondSquared(0);
var speed = RotationalSpeed.FromRevolutionsPerSecond(0);
var pos = Angle.FromRevolutions(0);
if (t.LessThanOrEqualsTol(tEps, halfTMax))
{
accel = RotationalAcceleration.FromRevolutionsPerSecondSquared(
2 * s.RevolutionsPerSecond / d.Seconds * (1 - Cos(4 * PI * t / d)));
speed = RotationalSpeed.FromRevolutionsPerSecond(
2 * s.RevolutionsPerSecond / d.Seconds * (t - d * Sin(4 * PI * t / d) / (4 * PI)).Seconds);
pos = s * d * (Cos(4 * PI * t / d) - 1) / (8 * Pow(PI, 2)) + (s * t) * (t / d);
}
if (t.GreatThanOrEqualsTol(tEps, halfTMax))
{
var th = t - d / 2;
accel = RotationalAcceleration.FromRevolutionsPerSecondSquared(
2 * s.RevolutionsPerSecond / d.Seconds * (Cos(4 * PI * th / d) - 1));
speed = RotationalSpeed.FromRevolutionsPerSecond(
2 * s.RevolutionsPerSecond * Sin(4 * PI * th / d) / (4 * PI)
- (2 * s * th / d - s).RevolutionsPerSecond);
pos = s * d * (1 - Cos(4 * PI * th / d)) / (8 * Pow(PI, 2)) - (s * th) * (th / d) + s * th + s * d / 4;
}
setCell(row, colAccel, accel.RevolutionsPerSecondSquared);
setCell(row, colSpeed, speed.RevolutionsPerSecond);
setCell(row, colPosRot, pos.Revolutions);
++row;
t += TIME_STEP;
}
wb.Save();
}
}
public void NumberToKilogramForceMetersTest() => Assert.Equal(Torque.FromKilogramForceMeters(2), 2.KilogramForceMeters());